ROS通过蓝牙Bluetooth与Arduino无线通信

ROS1 Melodic（kinetic）和ROS2 Dashing通用。

有时候需要蓝牙串口SPP提供无线通信方式进行机器人或者物联网硬件的控制。

掌握此部分内容需要先阅读下列参考文献：

1. arduino bluetooth and ubuntu linux：https://forum.arduino.cc/index.php?topic=24680.0

2. How to setup serial communication in Processing to /dev/rfcomm0：https://stackoverflow.com/questions/15464475/how-to-setup-serial-communication-in-processing-to-dev-rfcomm0

3. How to ROS messages via bluetooth? (arduino)：https://answers.ros.org/question/228869/how-to-ros-messages-via-bluetooth-arduino/

4. error connection rosserial via bluetooth arduino notebook：https://answers.ros.org/question/169366/error-connection-rosserial-via-bluetooth-arduino-notebook/

5. connect two separate computers using bluetooth：https://answers.ros.org/question/11877/connect-two-separate-computers-using-bluetooth/

理解之后，配置正确即可。

BT04-A

rosserial

AD口采集信息如下：

AD~1

AD~2

同样适用于ROS2Dashing^_^

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